Jennings didn't score until sinking a 3-pointer from the top of the key with 3:03 remaining in the second quarter. He finished 4 of 16 from the field.
"We tried to get him a basket early to kind of settle him down a little bit," Pistons coach Maurice Cheeks said. "But he missed a couple shots that he normally makes."
In the first meeting between the teams on Nov. 25 in Detroit, Jennings had 15 points and 13 assists, including four of six from 3-point range, in sparking Detroit to a 113-94 win.
"Brandon handled himself like a professional," Drummond said. "He got booed, but it's all part of the game."
Ersan Ilyasova, who has been plagued by injuries that include a sore ankle, scored a season high 22 points, including 16 in the first half, and had 10 rebounds off the bench to lead the Bucks, who have lost 13 of 14. Middleton added 14 points for Milwaukee.
"It's the first time I feel healthy. My ankle is getting better," Ilyasova said. We have to find a way to play much better. We have to come together and find a way to win games."
The Pistons trailed by five at the half, but used a 16-0 run midway through the third quarter to take a 10-point lead.
The Bucks got within five points on Knight's 3 with 1:36 remaining in the game, but that's as close as they would get.
Ekpe Udoh had five blocked shots in the second quarter for Milwaukee, tying his career high. He finished with six.
The Bucks used a 15-1 run to open a 38-31 second-quarter lead and held at 50-45 advantage at halftime. Detroit made just 33 percent of its shots over the first two quarters.
NOTES: Police issued municipal citations to Bucks center Larry Sanders for disorderly conduct and assault and battery stemming from a fight last month at a downtown Milwaukee nightclub. Drew had no comment when asked about the citations. Sanders had surgery on his right thumb on Nov. 11 after getting hurt during the scrum. He initially was expected to be out four to six weeks. Drew on Wednesday had no update on a timetable for Sanders' return. ... Pistons guard Chauncey Billups remained sidelined with left knee tendinitis and guard Will Bynum was inactive with an adductor strain.